Vehicle remote operating system and in-vehicle device

ABSTRACT

In a vehicle remote operating system remotely operating a host vehicle VM from a portable terminal  200 , a main control unit  112  of an ECU  110  of an in-vehicle device  100  determines an dispatch position of the host vehicle VM on the basis of a parking position of the host vehicle VM and a position of a user U who intends to board the host vehicle VM. Due to this, it becomes possible to dispatch the host vehicle VM according to the parking position of the host vehicle VM and the position of the user U, and convenience is improved in dispatch operation and boarding of the host vehicle VM.

This is a division of U.S. application Ser. No. 13/504,968, which is anational stage of International Application No. PCT/2010/056537, filedApr. 12, 2010. The contents of each of these applications areincorporated herein by reference.

TECHNICAL FIELD

The present invention relates to a vehicle remote operating system andan in-vehicle device, and more particularly to a vehicle remoteoperating system and an in-vehicle device, which can remotely operate avehicle from a communication terminal.

BACKGROUND ART

A technique of supporting an operation during parking of a vehicle hasbeen proposed. For example, a parking guidance device that detects anavailable space of a parking space based on an image captured by a frontcamera when a vehicle enters the parking space is disclosed in PatentLiterature 1. The parking guidance device in Patent Literature 1predicts dispatch routes in the case where it is assumed that parking ofa vehicle has been performed by forward parking and rearward parkingwith respect to a detected available space. The parking guidance devicein Patent Literature 1 compares the degrees of difficulty related tovehicle operations of the predicted dispatch routes, and guidesaccording to a parking method that is determined to be easier.

CITATION LIST Patent Literature

-   Patent Literature 1: Japanese Unexamined Patent Application    Publication No. 2007-320433

SUMMARY OF INVENTION Technical Problem

Since it is difficult to open a door wide in a state in which a vehicleis parked in a narrow parking place, a situation is considered, in whichingress and egress on people who intends to board the vehicle isdifficult. Further, when it is raining or there is a heavy load, asituation is considered, in which a person who intends to board does notwish to move up to a parking place. In such situations, it is preferableto dispatch the vehicle from the parking place to an appropriateposition.

Even in the above-described technique, a parking method having a lowdegree of difficulty related to the vehicle operation of the dispatchroute has been guided, but a person must determine the appropriatedispatch position themself. Due to this, it is preferable to furtherreduce the burden on people during the dispatch.

In consideration of the above-described circumstances, the object to beachieved by the present invention is to provide a vehicle remoteoperating system and an in-vehicle device, which can further reduce theburden on people during the dispatch.

Solution to Problem

The present invention relates to a vehicle remote operating system thatremotely operates a vehicle from a communication terminal, and relatesto a vehicle remote operating system which includes an dispatch positiondetermination unit that determines an dispatch position of the vehicleon the basis of a parking position of the vehicle and a position of apassenger who intends to board the vehicle.

According to this configuration, in the vehicle remote operating systemthat remotely operates the vehicle from the communication terminal, thedispatch position determination unit determines the dispatch position ofthe vehicle on the basis of the parking position of the vehicle and theposition of the passenger who intends to board the vehicle. Due to this,it is possible to dispatch the vehicle according to the parking positionof the vehicle and the position of the passenger, and thus theconvenience is improved in the dispatch operation and the vehicleboarding.

In this case, the dispatch position determination unit may determine thedispatch position of the vehicle on the basis of an obstacle that ispresent in the surroundings of the passenger.

According to this configuration, the dispatch position determinationunit determines the dispatch position of the vehicle on the basis of theobstacle that is present in the surroundings of the passenger. Due tothis, it is possible to dispatch the vehicle according to the obstaclethat is present in the surroundings of the passenger in addition to theparking position of the vehicle and the position of the passenger, andthus the convenience is improved in the dispatch operation and thevehicle boarding.

Further, the dispatch position determination unit may determine thedispatch position of the vehicle on the basis of a width of a road inthe surroundings of the passenger.

According to this configuration, the dispatch position determinationunit determines the dispatch position of the vehicle on the basis of thewidth of the road in the surroundings of the passenger. Due to this, itis possible to dispatch the vehicle according to the width of the roadin the surroundings of the passenger in addition to the parking positionof the vehicle and the position of the passenger, and thus theconvenience is improved in the dispatch operation and the vehicleboarding.

Further, the dispatch position determination unit may determine aposition in which the vehicle stops with a driver's seat of the vehiclefacing toward the passenger as the dispatch position when a distancebetween the obstacle that is present in the surroundings of thepassenger and the passenger is larger than the width of the vehicle andthe vehicle is movable to the position in which the vehicle stops with adriver's seat of the vehicle facing toward the passenger withoutswitching between forward and reverse of the vehicle from the parkingposition.

According to this configuration, the dispatch position determinationunit determines the position in which the vehicle stops with a driver'sseat of the vehicle facing toward the passenger as the dispatch positionwhen the distance between the obstacle that is present in thesurroundings of the passenger and the passenger is larger than the widthof the vehicle and the vehicle can move to the position in which thevehicle stops with a driver's seat of the vehicle facing toward thepassenger without switching between forward and reverse of the vehiclefrom the parking position. Due to this, if circumstances permit, it ispossible to dispatch the vehicle to the position in which the vehiclestops with a driver's seat of the vehicle facing toward the passenger,and thus the convenience is improved in the vehicle boarding.

Further, the dispatch position determination unit may determine any oneof a position in which the vehicle stops with any one seat except for adriver's seat of the vehicle facing toward the passenger and a positionin which the vehicle stops with a front end of the vehicle facing towardthe passenger as the dispatch position when a distance between theobstacle that is present in the surroundings of the passenger and thepassenger is equal to or smaller than the width of the vehicle and thevehicle is unable to move to the position in which the vehicle stopswith a driver's seat of the vehicle facing toward the passenger withoutswitching between forward and reverse of the vehicle from the parkingposition.

According to this configuration, the dispatch position determinationunit determines any one of a position in which the vehicle stops withany one seat except for a driver's seat of the vehicle facing toward thepassenger and a position in which the vehicle stops with a front end ofthe vehicle facing toward the passenger as the dispatch position when adistance between the obstacle that is present in the surroundings of thepassenger and the passenger is equal to or smaller than the width of thevehicle and the vehicle is unable to move to the position in which thevehicle stops with a driver's seat of the vehicle facing toward thepassenger without switching between forward and reverse of the vehiclefrom the parking position. Due to this, even in the circumstances inwhich it is not possible to dispatch the vehicle to a position in whichthe vehicle stops with a driver's seat of the vehicle facing toward thepassenger, it is possible to dispatch the vehicle to the position inwhich the passenger can easily board the vehicle, and thus theconvenience is further improved in the vehicle boarding.

Further, the dispatch position determination unit may determine thedispatch position of the vehicle on the basis of traffic of a road inthe surroundings of the passenger.

According to this configuration, the dispatch position determinationunit determines the dispatch position of the vehicle on the basis of thetraffic of the road in the surroundings of the passenger. Due to this,it is possible to dispatch the vehicle according to the traffic of theroad in the surroundings of the passenger, in addition to the parkingposition of the vehicle and the position of the passenger, and thusharmony with the surrounding road traffic can be achieved.

In this case, the dispatch position determination unit may determine aposition in which another vehicle can pass along the road in thesurroundings of the passenger as the dispatch position if the traffic ofthe road in the surroundings of the passenger is equal to or greaterthan a specified threshold value.

According to this configuration, the dispatch position determinationunit determines the position in which another vehicle can pass along theroad in the surroundings of the passenger as the dispatch position ifthe traffic of the road in the surroundings of the passenger is equal toor larger than the specified threshold value. Due to this, it ispossible to dispatch the vehicle to the position in which passing ofanother vehicle is not disturbed even when the traffic of the road inthe surroundings of the passenger is heavy, and thus harmony with thesurrounding road traffic can be achieved.

Further, it may be additionally provided with an automatic dispatch unitthat moves the vehicle up to the dispatch position of the vehicle thatis determined by the dispatch position determination unit, independentlyof an operation to the communication terminal, after the vehicle startsfrom the parking position of the vehicle.

According to this configuration, the automatic dispatch unit moves thevehicle up to the dispatch position of the vehicle that is determined bythe dispatch position determination unit, independently of the operationto the communication terminal, after the vehicle starts from the parkingposition of the vehicle. Due to this, the operation to the communicationterminal becomes unnecessary during movement of the vehicle, and thedispatch operation becomes easier.

Further, it may be additionally provided with a temporary stop unittemporarily stopping the moving vehicle by a remote operation from thecommunication terminal.

According to this configuration, for safety, it becomes possible totemporarily stop parking support or the movement of the vehicle by theremote operation from the communication terminal.

On the other hand, the present invention relates to an in-vehicle devicemounted on a vehicle in a vehicle remote operating system that remotelyoperates the vehicle from a communication terminal, which includes andispatch position determination unit that determines an dispatchposition of the vehicle on the basis of a parking position of thevehicle and a position of a passenger who intends to board the vehicle.

In this case, the dispatch position determination unit may determine thedispatch position of the vehicle on the basis of an obstacle that ispresent in the surroundings of the passenger.

Further, the dispatch position determination unit may determine thedispatch position of the vehicle on the basis of a width of a road inthe surroundings of the passenger.

Further, the dispatch position determination unit may determine aposition in which the vehicle stops with a driver's seat of the vehiclefacing toward the passenger as the dispatch position when a distancebetween the obstacle that is present in the surroundings of thepassenger and the passenger is larger than the width of the vehicle andthe vehicle is movable to the position in which the vehicle stops with adriver's seat of the vehicle facing toward the passenger withoutswitching between forward and reverse of the vehicle from the parkingposition.

Further, the dispatch position determination unit may determine any oneof a position in which the vehicle stops with any one seat except for adriver's seat of the vehicle facing toward the passenger and a positionin which the vehicle stops with a front end of the vehicle facing towardthe passenger as the dispatch position when a distance between theobstacle that is present in the surroundings of the passenger and thepassenger is equal to or smaller than the width of the vehicle and thevehicle is unable to move to the position in which the vehicle stopswith a driver's seat of the vehicle facing toward the passenger withoutswitching between forward and reverse of the vehicle from the parkingposition.

Further, the dispatch position determination unit can determine thedispatch position of the vehicle on the basis of traffic of a road inthe surroundings of the passenger.

In this case, the dispatch position determination unit may determine aposition in which another vehicle can pass along the road in thesurroundings of the passenger as the dispatch position if the traffic ofthe road in the surroundings of the passenger is equal to or greaterthan a specified threshold value.

Further, it may be additionally provided with an automatic dispatch unitthat moves the vehicle up to the dispatch position of the vehicle thatis determined by the dispatch position determination unit, independentlyof an operation to the communication terminal, after the vehicle startsfrom the parking position of the vehicle.

Further, it may be additionally provided with a temporary stop unittemporarily stopping the moving vehicle by a remote operation from thecommunication terminal.

Advantageous Effects of Invention

According to the vehicle remote operating system and the in-vehicledevice according to the present invention, convenience is improved inthe dispatch operation and the vehicle boarding.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram illustrating the configuration of anin-vehicle device in a vehicle remote operating system related to anembodiment.

FIG. 2 is a block diagram illustrating the configuration of a portableterminal in a vehicle remote operating system related to an embodiment.

FIG. 3 is a flowchart illustrating an operation of a vehicle remoteoperating system related to an embodiment mainly in the case where anoperator is positioned on the right side of a vehicle.

FIG. 4 is a flowchart illustrating an operation of a vehicle remoteoperating system related to an embodiment mainly in the case where anoperator is positioned on the right side of a vehicle.

FIG. 5 is a flowchart illustrating an operation of a vehicle remoteoperating system related to an embodiment mainly in the case wheretraffic is heavy.

FIG. 6 is a plan view illustrating definitions of respective dimensionsin parking positions.

FIG. 7 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which a door is open.

FIG. 8 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a hood of avehicle.

FIG. 9 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a driver's seatof a vehicle.

FIG. 10 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a left rear seatof a vehicle.

FIG. 11 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a driver's seatof a vehicle.

FIG. 12 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a left seat of avehicle.

FIG. 13 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a hood of avehicle.

FIG. 14 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a driver's seatof a vehicle.

FIG. 15 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a left rear seatof a vehicle.

FIG. 16 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a left seat of avehicle.

FIG. 17 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in which avehicle stops in a position in which an operator faces a driver's seatof a vehicle.

FIG. 18 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in the casewhere traffic of a road is heavy and the road has a width which ispassable on both sides.

FIG. 19 is a plan view illustrating an operation during dispatch relatedto an embodiment, and particularly illustrating an operation in the casewhere traffic of a road is heavy and the road has a width which is notpassable on both sides.

FIG. 20 is a flowchart illustrating an operation of a vehicle remoteoperating system related to an embodiment, and particularly illustratinga series of operations performed as parking and dispatch.

FIG. 21 is a flowchart illustrating an operation of a vehicle remoteoperating system related to an embodiment, and particularly illustratingan operation in the case where an obstacle is present.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the invention will be described withreference to the accompanying drawings. A vehicle remote operatingsystem and an in-vehicle device according to an embodiment of theinvention are for a driver or the like to dispatch a vehicle from aparking place by a remote operation from a portable terminal in thesituations in which it is difficult to open a door wide in a state inwhich a vehicle is parked in a narrow parking place, and thus ingressand egress on people who intends to board the vehicle is difficult.Further, a vehicle remote operating system and an in-vehicle deviceaccording to an embodiment of the invention are for a driver or the liketo dispatch a vehicle from a parking place by a remote operation from aportable terminal when it is raining or there is a heavy load.

As illustrated in FIG. 1, the in-vehicle device 100 mounted on a vehiclein a vehicle remote operating system according to this embodimentincludes a communication unit 101, a GPS 102, a radar sensor 103, anultrasonic sensor 104, a vehicle speed detection unit 105, a steeringangle detection unit 106, an ECU 110, a steering control unit 122, adriving force control unit 124, and a braking force control unit 126.

The communication unit 101 is a portion for transmitting/receiving awireless signal with a portable terminal. Further, the communicationunit 101 is a portion for acquiring information on surrounding road ortraffic conditions through road-vehicle communication with roadsidefacilities such as optical beacons or inter-vehicle communication withother vehicles.

The GPS (Global Positioning System) 102 is a portion for measuring theposition of the host vehicle. Further, the GPS 102 is also used toacquire information on the road shapes or facilities around the hostvehicle from map information of a database and the position of the hostvehicle.

The radar sensor 103 and the ultrasonic sensor 104 are sensors fordetecting obstacles around the host vehicle. The radar sensor 103 andthe ultrasonic sensor 104 are also used to acquire information on theroad shapes around the host vehicle. The radar sensor 103 and theultrasonic sensor 104 are also used to detect the position of a user whointends to board the host vehicle.

The vehicle speed detection unit 108 is a portion for detecting thespeed of the vehicle from the rotational speed of the wheel. Thesteering detection unit 110 is a portion for detecting a steering angleof the vehicle.

The ECU (Electronic Control Unit) 110 has a main control unit 112 andsetting information 114. The ECU is a portion for overall control ofrespective components of the in-vehicle device 100. The main controlunit 112 performs parking and dispatch of a vehicle by a remoteoperation according to a specified parking program or dispatch programby a communication signal from the portable terminal. The settinginformation storage unit 114 stores information on the last parkingposition or the last dispatch position of the host vehicle. Further, thesetting information storage unit 114 stores the information that theuser has set for parking or dispatch.

The steering control unit 112 is a portion for changing a travelingdirection of the vehicle through performing of steering according to acommand signal from the main control unit 112 of the ECU 110, ratherthan through a steering operation input to a steering wheel. The drivingforce control unit 124 is a portion for changing the driving force ofthe vehicle through performing of opening and closing of a throttlevalve according to the command signal from the main control unit 112,rather than through an acceleration operation input to an accelerationpedal. The braking force control unit 126 is a portion for changing thebraking force of the vehicle through control of brake hydraulic pressureaccording to the command signal from the main control unit 112, ratherthan through a braking operation input to the braking pedal.

As illustrated in FIG. 2, a portable terminal 200, through which a userremotely operates the vehicle from outside of the vehicle, includes acommunication unit 202, a GPS 204, and a user input unit 206.

The communication unit 202 is a portion for transmitting/receiving awireless signal with the in-vehicle device 100. The GPS 204 is a portionfor measuring the position of the user. The user input unit 206 is aportion for a user who remotely operates the vehicle to inputinformation for the operation. The user input unit 206 is composed ofoperation keys or buttons for changing the setting information throughmaking the in-vehicle device 100 execute a parking program and andispatch program.

In the following description, the operation of the vehicle remoteoperating system and the in-vehicle device will be described. Thevehicle remote operating system according to this embodiment, asillustrated in FIG. 6, assumes a situation in which it is difficult toopen a door wide in a state where the host vehicle VM is parked in anarrow parking place P, and thus it is difficult for the user U to boardthe host vehicle VM. The vehicle remote operating system according tothis embodiment dispatches the host vehicle VM that is mounted on thein-vehicle device 100 from the portable terminal 200 up to the positionof the user U according to a predetermined dispatch program executed bythe remote operation of the user U who is outside the parking place P.

The vehicle remote operating system according to this embodiment canalso be applied in the case where it is raining and thus the user U doesnot wish to move up to the parking position P. Further, the vehicleremote operating system according to this embodiment can also be appliedin the case where the user has a heavy load and thus does not wish tomove up to the parking position P. In this embodiment, it is notnecessary for the user U who intends to board the host vehicle VM tooperate the portable terminal 200, but any other person may operate theportable terminal 200.

In the following description, as illustrated in FIG. 6, dimensions ofeach part are defined. Such data may be acquired by the communicationunit 101 or the GPS 102 or may be detected by the radar sensor 103 orthe ultrasonic sensor 104 when the in-vehicle device executes thedispatch program. Further, such data may be detected by the radar sensor103 or the ultrasonic sensor 104 of the in-vehicle device 100 when thehost vehicle enters into the parking place P. Further, the user U mayinput data to the user input unit 206 of the portable terminal 200, andthe communication unit 202 may transmit the corresponding data to theside of the in-vehicle device 100.

Further, in the following description, it is assumed that the hostvehicle is parked with the front part thereof facing a road that extendsin left and right directions, and the driver's seat of the host vehicleVM is positioned on the right side of the vehicle. A case where the hostvehicle is parked with its front part facing the road or the driver'sseat of the host vehicle VM is positioned on the left side of thevehicle is reverse to the case to be described hereinafter.

If the user U operates the user input unit 206 of the portable terminal200, the communication unit 202 transmits the command signal to thein-vehicle device 100 to execute the dispatch program. According to thedispatch program executed hereinafter, it is assumed that the reachabledispatch position is set without switching between forward and reverseof the host vehicle VM from the parking place P. Once the user U startsthe host vehicle VM by operating the user input unit 206 of the portableterminal 200, the in-vehicle device 100 makes the host vehicle VMautomatically travel up to the dispatch position without the necessityof operating the portable terminal 200.

If the dispatch program is executed, as illustrated in FIG. 3, the maincontrol unit 112 of the in-vehicle device 100 compares a distance Sbetween the host vehicle VM and a front obstacle that the host vehicleVM faces with a distance a between the user U and the correspondingobstacle (S101). In an example of FIG. 6, the obstacle may be wallsurfaces or facilitates at both side ends of the road, and the distanceS is the width of the road. If the distance a is larger than thedistance S (S101), as illustrated in FIG. 7, the main control unit 112moves the host vehicle VM up to a position in which the door is openedand thus the host vehicle VM can be dispatched to either of the rightand left sides (S102).

The main control unit 112 determines whether or not the user U ispositioned on the right side of the host vehicle VM (S103). If the userU is positioned on the right (S103), the main control unit 112 comparesa distance c between the user U and the host vehicle VM that is parkedwith the entire length e of the host vehicle VM (S104). If c>e issatisfied (S104), that is, if the user U is far away and thus the hostvehicle VM comes out from the parking position P and the vehicle bodycan be turned parallel to the road, the main control unit 112 comparesthe distance a between the front obstacle that the host vehicle VM facesduring parking and the user U with the overall width d of the hostvehicle VM (S105).

If d/2≦a≦d is satisfied (S105), as illustrated in FIG. 8, the maincontrol unit 112 moves the host vehicle VM up to a position in which theuser U faces the hood (S106). If a>d is satisfied (S105), that is if thedistance a between the user U and the neighboring obstacle is largerthan the overall width d of the host vehicle VM, as illustrated in FIG.9, the main control unit 112 moves the host vehicle VM up to a positionin which the user U faces the driver's seat (S107). If a<d/2 issatisfied (S105), as illustrated in FIG. 10, the main control unit 112moves the host vehicle VM up to a position in which the user U faces theleft rear seat (S109).

If c>e is not satisfied in S104, that is, if the user U is too close andthus the body of the host vehicle VM that comes out from the parkingposition P is unable to be turned parallel to the road, the main controlunit 112 compares whether or not the distance a between the user U andthe neighboring obstacle is larger than the overall width d of the hostvehicle VM (S109). If a>d is satisfied (S109), as illustrated in FIG.11, the main control unit 112 moves the host vehicle VM up to a positionin which the user U faces the driver's seat (S110). If a>d is notsatisfied (S109), as illustrated in FIG. 12, the main control unit 112moves the host vehicle VM up to a position in which the user U faces theleft seat (S111).

If the user U is positioned on the left side in S103 and c>e issatisfied (S104), that is, if the user U is far away and thus the hostvehicle VM comes out from the parking position P and the vehicle bodycan be turned parallel to the road, the main control unit 112 comparesthe distance b between the obstacle that is present on the side wherethe host vehicle VM is parked during parking and the user U with theoverall width d of the host vehicle VM (S113).

If d/2≦b≦d is satisfied (S113), as illustrated in FIG. 13, the maincontrol unit 112 moves the host vehicle VM up to a position in which theuser U faces the hood (S114). If b>d is satisfied (S113), that is if thedistance b between the user U and the neighboring obstacle is largerthan the overall width d of the host vehicle VM, as illustrated in FIG.14, the main control unit 112 moves the host vehicle VM up to a positionin which the user U faces the driver's seat (S115). If b<d/2 issatisfied (S113), as illustrated in FIG. 15, the main control unit 112moves the host vehicle VM up to a position in which the user U faces theleft rear seat (S116).

If c>e is not satisfied in S112, that is, if the user U is too close andthus the body of the host vehicle VM that comes out from the parkingposition P is unable to be turned parallel to the road, the main controlunit 112 compares whether or not the distance b between the user U andthe neighboring obstacle is larger than the overall width d of the hostvehicle VM (S117). If b>d is satisfied (S117), as illustrated in FIG.17, the main control unit 112 moves the host vehicle VM up to a positionin which the user U faces the driver's seat (S118). If b>d is notsatisfied (S117), as illustrated in FIG. 16, the main control unit 112moves the host vehicle VM up to a position in which the user U faces theleft seat (S119).

As illustrated in FIG. 5, the main control unit 112 determines trafficaround the user U on the basis of information that can be obtained fromthe communication unit 101 and the GPS 102 or information on an objectthat is detected by the radar sensor 103 and the ultrasonic sensor 104(S120). If the traffic around the user U is greater than a predeterminedthreshold value (S120), the main control unit 112 determines whether theroad around the user U is passable on both sides (S121). If the roadaround the user U is passable on both sides (S121), as illustrated inFIG. 18, the main control unit 112 corrects the stopping position to aposition in which another following vehicle VO can pass along the road(S122). If the road around the user U is not passable on both sides(S121), as illustrated in FIG. 19, the main control unit 112 correctsthe stopping position to a position in which the door of the hostvehicle VM is open (S122). In the above-described processes, if anoperation temporarily stops the host vehicle VM through the remoteoperation from the portable terminal 200, the main control unit 112stops the host vehicle VM.

The vehicle remote operating system according to this embodiment asdescribed above can be used as follows in a daily or frequently usedparking place. As illustrated in FIG. 20, the user U who performs theremote operation through a driver or the portable terminal 200 parks thehost vehicle VM in the parking place P as shown in FIG. 6 (S201). Themain control unit 112 stores the corresponding parking position in thesetting information storage unit 114 (S202). Next, the user U whoperforms the remote operation through the driver or the portableterminal 200 as described above dispatches the host vehicle VM (S203).The main control unit 112 stores the corresponding dispatch position inwhich the user is received in the setting information storage unit 114(S204). By this, in a daily or frequently used parking place, theparking and the dispatch can be performed without repeating theoperation such as setting of the dispatch position or the like.

Further, during the dispatch through the remote operation as describedabove, there is a possibility that an obstacle is present on a trackwhere the host vehicle VM travels, and the following process isperformed with respect to the obstacle. As illustrated in FIG. 21, theuser operates an dispatch switch or the like of the user input unit 206of the portable terminal 200 (S301). The main control unit 112 of thein-vehicle device 100 sets the dispatch position as described above fromthe current position of the user U and the host vehicle VM, andgenerates a track along which the host vehicle VM is made to travel(S302). The main control unit 112 automatically drives the host vehicleVM along the generated track without the necessity of the operation tothe portable terminal 200 or the host vehicle VM (S303).

The laser sensor 103 or the ultrasonic sensor 104 detects an obstacle onthe track (S304), and if the obstacle is at a standstill (S305), themain control unit 112 reconfigures a track which avoids the obstacle andis reachable to the dispatch position (S306). If the obstacle is not ata standstill (S305), the main control unit 112 stops the host vehicle VMuntil no obstacle is present on the track (S307 and S304). Theabove-described operation is performed until the host vehicle VM reachesthe dispatch position (S308). As in the first embodiment, if anoperation of temporarily stopping the host vehicle VM is performedthrough the remote operation from the portable terminal 200, the maincontrol unit 112 can stop the host vehicle VM.

According to this embodiment, in the vehicle remote operating systemthat remotely operates the host vehicle VM from the portable terminal200, the main control unit 112 of the ECU 110 of the in-vehicle device100 determines the dispatch position of the host vehicle VM on the basisof the parking position of the host vehicle VM and the position of theuser who intends to board the host vehicle VM. Due to this, it ispossible to dispatch the host vehicle VM according to the parkingposition of the host vehicle VM and the position of the user U, and thusthe convenience is improved in the dispatch operation and the boardingof the host vehicle VM.

Further, the main control unit 112 determines the dispatch position ofthe host vehicle VM on the basis of the obstacle that is present aroundthe user U. Due to this, it is possible to dispatch the host vehicle VMaccording to the obstacle that is present around the user U in additionto the parking position of the host vehicle VM and the position of theuser U, and thus the convenience is improved in the dispatch operationand the boarding of the host vehicle VM.

Further, the main control unit 112 determines the dispatch position ofthe host vehicle VM on the basis of a distance S that is the width ofthe road around the user U. Due to this, it is possible to dispatch thehost vehicle VM according to the width of the road around the user U inaddition to the parking position of the host vehicle VM and the positionof the user U, and thus convenience is improved in the dispatchoperation and the boarding of the host vehicle VM.

Further, the main control unit 112 determines the position in which thehost vehicle VM stops with a driver's seat of the host vehicle VM facingtoward the user U as the dispatch position when the distance a or bbetween the obstacle that is present around the user U, such as the wallsurface or facilities, and the user U is larger than the width d of thevehicle and the host vehicle VM can move to the position in which thehost vehicle VM stops with a driver's seat of the host vehicle VM facingtoward the user U without switching between forward and reverse of thevehicle from the parking position. Due to this, if circumstances permit,it is possible to dispatch the host vehicle VM to the position in whichthe host vehicle VM stops with a driver's seat of the host vehicle VMfacing toward the user U, and thus the convenience is improved in theboarding of the host vehicle VM.

Further, the main control unit 112 determines any one of a position inwhich the host vehicle VM stops with any one seat except for a driver'sseat of the host vehicle VM facing toward the user U and a position inwhich the host vehicle VM stops with a front end of the vehicle facingtoward the user U as the dispatch position when the distance a or bbetween the obstacle that is present around the user U, such as the wallsurface or facilities, and the user U is equal to or smaller than thewidth d of the host vehicle VM and the vehicle is unable to move to theposition in which the host vehicle VM stops with a driver's seat of thehost vehicle VM facing toward the user U without switching betweenforward and reverse of the vehicle from the parking position. Due tothis, even in the circumstances in which it is not possible to dispatchthe host vehicle VM to a position in which the host vehicle VM stopswith a driver's seat of the host vehicle VM facing toward the user U, itis possible to dispatch the host vehicle VM to the position in which theuser can easily board the host vehicle VM, and thus the convenience isfurther improved in the boarding of the host vehicle VM.

Further, the main control unit 112 determines the dispatch position ofthe host vehicle VM on the basis of the traffic of the road in thesurroundings of the user U. Due to this, it is possible to dispatch thehost vehicle VM according to the traffic of the road in the surroundingsof the passenger, in addition to the parking position of the hostvehicle VM and the position of the user U, and thus harmony with thesurrounding road traffic can be achieved.

Further, the main control unit 112 determines the position in whichanother vehicle VO can pass along the road around the user U as thedispatch position if the traffic of the road around the user U is equalto or greater than the specified threshold value. Due to this, it ispossible to dispatch the host vehicle VM to the position in whichpassing of another vehicle VO is not disturbed even when the traffic ofthe road around the user U is heavy, and thus harmony with thesurrounding road traffic can be achieved.

Further, according to this embodiment, the main control unit 112 movesthe host vehicle VM up to the determined dispatch position,independently of the operation to the portable terminal 200, after thehost vehicle VM starts from the parking position of the host vehicle VM.Due to this, the operation to the portable terminal 200 becomesunnecessary during movement of the host vehicle VM, and the dispatchoperation becomes easier.

In addition, according to this embodiment, the main control unit 112temporarily stop the host vehicle VM that is moving through theoperation from the portable terminal 200. Due to this, for safety, itbecomes possible to temporarily stop the parking support or the hostvehicle VM through the operation from the portable terminal 200.

Although embodiments of the invention have been described, the presentinvention is not limited to the above-described embodiments, and isexecuted in various ways.

INDUSTRIAL APPLICABILITY

According to the vehicle remote operating system and the in-vehicledevice according to the invention, convenience is improved in thedispatch operation and the vehicle boarding.

REFERENCE SIGNS LIST

-   -   100: in-vehicle device    -   101: communication unit    -   102: GPS    -   103: radar sensor    -   104: ultrasonic sensor    -   105: vehicle speed detection unit    -   106: steering angle detection unit    -   110: ECU    -   112: main control unit    -   114: setting information storage unit    -   122: steering control unit    -   124: driving force control unit    -   126: braking force control unit    -   200: portable terminal    -   202: communication unit    -   204: GPS    -   206: user input unit

The invention claimed is:
 1. A vehicle remote operating system thatremotely operates a vehicle from a communication terminal, comprising: adispatch position determination unit that determines a position in whichthe vehicle stops in an orientation with any one seat of the vehiclefacing toward a passenger who intends to board the vehicle as a dispatchposition, wherein the dispatch position determination unit determinesthe position in which the vehicle stops in an orientation with any oneseat of the vehicle facing toward the passenger as the dispatch positionon the basis of a distance between an obstacle that is present in thesurroundings of the passenger and the passenger, wherein the dispatchposition determination unit determines the dispatch position of thevehicle on the basis of traffic of a road in the surroundings of thepassenger, and wherein the dispatch position determination unitdetermines a position in which another vehicle can pass along the roadin the surroundings of the passenger as the dispatch position responsiveto traffic of the road in the surroundings of the passenger being equalto or greater than a predetermined threshold value.
 2. The vehicleremote operating system according to claim 1, wherein the dispatchposition determination unit determines the dispatch position of thevehicle on the basis of a width of a road in the surroundings of thepassenger.
 3. The vehicle remote operating system according to claim 1,wherein the dispatch position determination unit determines the positionin which the vehicle stops in an orientation with any one seat of thevehicle facing toward the passenger as the dispatch position when adistance between the obstacle that is present in the surroundings of thepassenger and the passenger is equal to or smaller than the width of thevehicle or when the vehicle is unable to move to the position in whichthe vehicle stops with a driver's seat of the vehicle facing toward thepassenger without switching between forward and reverse of the vehiclefrom the parking position.
 4. The vehicle remote operating systemaccording to claim 1, further comprising an automatic dispatch unitmoving the vehicle up to the dispatch position of the vehicle that isdetermined by the dispatch position determination unit, independently ofan operation to the communication terminal, after the vehicle startsfrom the parking position of the vehicle.
 5. The vehicle remoteoperating system according to claim 1, further comprising a temporarystop unit temporarily stopping the moving vehicle by a remote operationfrom the communication terminal.
 6. An in-vehicle device mounted on avehicle in a vehicle remote operating system that remotely operates thevehicle from a communication terminal, comprising: a dispatch positiondetermination unit that determines a position in which the vehicle stopsin an orientation with any one seat of the vehicle facing toward apassenger who intends to board the vehicle as a dispatch position,wherein the dispatch position determination unit determines the positionin which the vehicle stops in an orientation with any one seat of thevehicle facing toward the passenger as the dispatch position on thebasis of a distance between an obstacle that is present in thesurroundings of the passenger and the passenger, wherein the dispatchposition determination unit determines the dispatch position of thevehicle on the basis of traffic of a road in the surroundings of thepassenger, and wherein the dispatch position determination unitdetermines a position in which another vehicle can pass along the roadin the surroundings of the passenger as the dispatch position responsiveto traffic of the road in the surroundings of the passenger being equalto or greater than a specified threshold value.
 7. The in-vehicle deviceaccording to claim 6, wherein the dispatch position determination unitdetermines the dispatch position of the vehicle on the basis of a widthof a road in the surroundings of the passenger.
 8. The in-vehicle deviceaccording to claim 6, wherein the dispatch position determination unitdetermines the position in which the vehicle stops in an orientationwith any one seat of the vehicle facing toward the passenger as thedispatch position when a distance between the obstacle that is presentin the surroundings of the passenger and the passenger is equal to orsmaller than the width of the vehicle or when the vehicle is unable tomove to the position in which the vehicle stops with a driver's seat ofthe vehicle facing toward the passenger without switching betweenforward and reverse of the vehicle from the parking position.
 9. Thein-vehicle device according to claim 6, further comprising an automaticdispatch unit moving the vehicle up to the dispatch position of thevehicle that is determined by the dispatch position determination unit,independently of an operation to the communication terminal, after thevehicle starts from the parking position of the vehicle.
 10. Thein-vehicle device according to claim 6, further comprising a temporarystop unit temporarily stopping the moving vehicle by a remote operationfrom the communication terminal.